147 lines
4.2 KiB
C
147 lines
4.2 KiB
C
#include <signal.h>
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#include <stdlib.h>
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#include <time.h>
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#include <sys/select.h>
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#include <ua_types.h>
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#include <ua_server.h>
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#include <logger_stdout.h>
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#include <networklayer_tcp.h>
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#include <ua_config_standard.h>
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#include <zmq.h>
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#include "TestModel.h"
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/*
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* shared data
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*/
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uint32_t upTime = 0;
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double measuredTemperature = 0;
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UA_Logger logger = Logger_Stdout;
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UA_Boolean running = true;
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static void stopHandler(int sign) {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_SERVER, "received ctrl-c");
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running = false;
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}
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static UA_StatusCode
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readInteger(void *handle, const UA_NodeId nodeid, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *dataValue) {
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dataValue->hasValue = true;
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UA_Variant_setScalarCopy(&dataValue->value, handle, &UA_TYPES[UA_TYPES_INT32]);
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return UA_STATUSCODE_GOOD;
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}
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static UA_StatusCode
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readDouble(void *handle, const UA_NodeId nodeid, UA_Boolean sourceTimeStamp,
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const UA_NumericRange *range, UA_DataValue *dataValue) {
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dataValue->hasValue = true;
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UA_Variant_setScalarCopy(&dataValue->value, handle, &UA_TYPES[UA_TYPES_DOUBLE]);
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return UA_STATUSCODE_GOOD;
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}
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uint64_t millis() {
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struct timeval te;
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gettimeofday(&te, NULL);
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uint64_t ms = te.tv_sec * 1000 + te.tv_usec / 1000;
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return ms;
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}
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int main(int argc, char** argv) {
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signal(SIGINT, stopHandler); /* catches ctrl-c */
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/* initialize the OPC-UA server */
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UA_ServerConfig config = UA_ServerConfig_standard;
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UA_ServerNetworkLayer nl = UA_ServerNetworkLayerTCP(UA_ConnectionConfig_standard, 16664);
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config.networkLayers = &nl;
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config.networkLayersSize = 1;
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UA_Server *server = UA_Server_new(config);
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/* create nodes from nodeset */
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TestModel(server);
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/* assign data sources to OPC-UA variables */
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UA_DataSource uptimeDataSource = (UA_DataSource) {
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.handle = &upTime, .read = readInteger, .write = 0};
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UA_Server_setVariableNode_dataSource(server, UA_NODEID_NUMERIC(2, 6006),
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uptimeDataSource);
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UA_DataSource measuredTemperatureDataSource = (UA_DataSource) {
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.handle = &measuredTemperature, .read = readDouble, .write = 0};
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UA_Server_setVariableNode_dataSource(server, UA_NODEID_NUMERIC(2, 6004),
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measuredTemperatureDataSource);
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/* prepare OPC-UA server to run cooperative in a loop (below) */
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UA_StatusCode retval = UA_Server_run_startup(server);
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assert(retval == UA_STATUSCODE_GOOD);
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/* prepare zmq context, connect to server and subscribe with empty filter */
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void *zmqContext = zmq_ctx_new();
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void *zmqSubscriber = zmq_socket(zmqContext, ZMQ_SUB);
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int rc = zmq_connect(zmqSubscriber, "tcp://127.0.0.1:12345");
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assert(rc == 0);
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rc = zmq_setsockopt(zmqSubscriber, ZMQ_SUBSCRIBE, 0, 0);
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assert(rc == 0);
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while (running == true) {
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upTime = time(0);
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// measuredTemperature += 0.25;
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uint16_t canWait = 0;
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canWait = UA_Server_run_iterate(server, 0);
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// UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "canWait: %i", canWait);
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uint64_t beforeZmqRecv = millis();
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double oldMeasuredTemperature = measuredTemperature;
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/* we know we will receive a double, write it directly into the shared variable */
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int rcLen = zmq_recv(zmqSubscriber, &measuredTemperature,
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sizeof(double), ZMQ_DONTWAIT);
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if (rcLen == -1) {
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if (errno != EAGAIN) {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "something wrong with zmq_recv: %i", errno);
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exit(1);
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}
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} else {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "something received: %i", rcLen);
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}
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if (oldMeasuredTemperature != measuredTemperature) {
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "temperature value changed: %f", measuredTemperature);
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}
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/* measure duration of the zmq handling */
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uint64_t durationZmqRecv = millis() - beforeZmqRecv;
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canWait = (canWait > durationZmqRecv) ? (canWait - durationZmqRecv) : 0;
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UA_LOG_INFO(logger, UA_LOGCATEGORY_USERLAND, "canWait: %i", canWait);
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/* cooperative wait */
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struct timeval timeout = { .tv_sec = 0, .tv_usec = canWait * 1000 };
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select(0, 0, 0, 0, &timeout);
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}
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/* ctrl-c received -> clean up */
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UA_Server_delete(server);
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nl.deleteMembers(&nl);
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zmq_close(zmqSubscriber);
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zmq_ctx_destroy(zmqContext);
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// return (int)retval;
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}
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